Moving level, but with the Z axis loose

bsawlor 2017-12-20

Is it possible to move, with a vacuum and part, level, but make the Z on wrist 3 loose, so when hitting a datum or two, it will rotate to hit the datum alone the length of an edge, making it adaptable, rather then hitting a corner and not rotating to accommodate the difference in rotation?

matthewd92 2017-12-20

Yes, using the force wizard you ca select to make only 1 axis compliant. You will need to give it an acceptable speed and amount of rotation that is allowed. I recommend dialing the speed way down and then slowly making it go faster with the compliance.

You will want to use the frame type where type where you can define specific compliant axes.

bsawlor 2018-01-11

That doesn't seem to allow free rotation. Is there any way to set only wrist 3 to freedrive while the arm is moving to allow the part to hit the datum? I don't remember seeing this capability as a skill, but if they don't have it, it would be handy to have.

matthewd92 2018-01-11

You can’t select only 1 joint for freedrive.

In the frame type of force control you can choose both compliant in linear and rotational motion. You’d want to set both z and rZ as compliant. Remember to lower the allowable velocities and work your way up to find the amount of compliance you need.